1 files changed, 24 insertions, 20 deletions

diff --git a/extern/ceres/internal/ceres/triplet_sparse_matrix.cc b/extern/ceres/internal/ceres/triplet_sparse_matrix.cc
index 5dbf0e7cd3a..bbb5f676a5d 100644
--- a/extern/ceres/internal/ceres/triplet_sparse_matrix.cc
+++ b/extern/ceres/internal/ceres/triplet_sparse_matrix.cc
@@ -31,10 +31,10 @@
 #include "ceres/triplet_sparse_matrix.h"
 
 #include <algorithm>
-#include <cstddef>
+#include <memory>
 
 #include "ceres/internal/eigen.h"
-#include "ceres/internal/port.h"
+#include "ceres/internal/export.h"
 #include "ceres/random.h"
 #include "ceres/types.h"
 #include "glog/logging.h"
@@ -45,7 +45,7 @@ namespace internal {
 TripletSparseMatrix::TripletSparseMatrix()
     : num_rows_(0), num_cols_(0), max_num_nonzeros_(0), num_nonzeros_(0) {}
 
-TripletSparseMatrix::~TripletSparseMatrix() {}
+TripletSparseMatrix::~TripletSparseMatrix() = default;
 
 TripletSparseMatrix::TripletSparseMatrix(int num_rows,
                                          int num_cols,
@@ -109,8 +109,9 @@ bool TripletSparseMatrix::AllTripletsWithinBounds() const {
   for (int i = 0; i < num_nonzeros_; ++i) {
     // clang-format off
     if ((rows_[i] < 0) || (rows_[i] >= num_rows_) ||
-        (cols_[i] < 0) || (cols_[i] >= num_cols_))
+        (cols_[i] < 0) || (cols_[i] >= num_cols_)) {
       return false;
+    }
     // clang-format on
   }
   return true;
@@ -123,9 +124,12 @@ void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
   // Nothing to do if we have enough space already.
   if (new_max_num_nonzeros <= max_num_nonzeros_) return;
 
-  int* new_rows = new int[new_max_num_nonzeros];
-  int* new_cols = new int[new_max_num_nonzeros];
-  double* new_values = new double[new_max_num_nonzeros];
+  std::unique_ptr<int[]> new_rows =
+      std::make_unique<int[]>(new_max_num_nonzeros);
+  std::unique_ptr<int[]> new_cols =
+      std::make_unique<int[]>(new_max_num_nonzeros);
+  std::unique_ptr<double[]> new_values =
+      std::make_unique<double[]>(new_max_num_nonzeros);
 
   for (int i = 0; i < num_nonzeros_; ++i) {
     new_rows[i] = rows_[i];
@@ -133,10 +137,9 @@ void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
     new_values[i] = values_[i];
   }
 
-  rows_.reset(new_rows);
-  cols_.reset(new_cols);
-  values_.reset(new_values);
-
+  rows_ = std::move(new_rows);
+  cols_ = std::move(new_cols);
+  values_ = std::move(new_values);
   max_num_nonzeros_ = new_max_num_nonzeros;
 }
 
@@ -152,9 +155,9 @@ void TripletSparseMatrix::set_num_nonzeros(int num_nonzeros) {
 }
 
 void TripletSparseMatrix::AllocateMemory() {
-  rows_.reset(new int[max_num_nonzeros_]);
-  cols_.reset(new int[max_num_nonzeros_]);
-  values_.reset(new double[max_num_nonzeros_]);
+  rows_ = std::make_unique<int[]>(max_num_nonzeros_);
+  cols_ = std::make_unique<int[]>(max_num_nonzeros_);
+  values_ = std::make_unique<double[]>(max_num_nonzeros_);
 }
 
 void TripletSparseMatrix::CopyData(const TripletSparseMatrix& orig) {
@@ -252,10 +255,11 @@ void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
   num_nonzeros_ -= dropped_terms;
 }
 
-TripletSparseMatrix* TripletSparseMatrix::CreateSparseDiagonalMatrix(
-    const double* values, int num_rows) {
-  TripletSparseMatrix* m =
-      new TripletSparseMatrix(num_rows, num_rows, num_rows);
+std::unique_ptr<TripletSparseMatrix>
+TripletSparseMatrix::CreateSparseDiagonalMatrix(const double* values,
+                                                int num_rows) {
+  std::unique_ptr<TripletSparseMatrix> m =
+      std::make_unique<TripletSparseMatrix>(num_rows, num_rows, num_rows);
   for (int i = 0; i < num_rows; ++i) {
     m->mutable_rows()[i] = i;
     m->mutable_cols()[i] = i;
@@ -272,7 +276,7 @@ void TripletSparseMatrix::ToTextFile(FILE* file) const {
   }
 }
 
-TripletSparseMatrix* TripletSparseMatrix::CreateRandomMatrix(
+std::unique_ptr<TripletSparseMatrix> TripletSparseMatrix::CreateRandomMatrix(
     const TripletSparseMatrix::RandomMatrixOptions& options) {
   CHECK_GT(options.num_rows, 0);
   CHECK_GT(options.num_cols, 0);
@@ -297,7 +301,7 @@ TripletSparseMatrix* TripletSparseMatrix::CreateRandomMatrix(
     }
   }
 
-  return new TripletSparseMatrix(
+  return std::make_unique<TripletSparseMatrix>(
       options.num_rows, options.num_cols, rows, cols, values);
 }